The Yatra was scheduled to enter Karnataka this evening from Dhulkhed.
Advani had cancelled the Karnataka leg after Rajkumar's death.
During the second leg of the yatra, Singh will travel through naxal-affected areas of Jharkand, before entering\nBihar.
Karnataka leg of Advani's yatra called off
The Supreme Court extended the stay on proceedings against Rahul Gandhi in a case concerning alleged derogatory remarks against the Indian Army during his Bharat Jodo Yatra.
Singh will cover two districts of Chhattisgarh before entering Jharkhand.
The BJP leader will travel in a converted bus on his latest yatra.
"If it stays to complete its full five-year term, then people would get to see some more follies that have become its hallmark," Advani said.
Bharatiya Janata Party leader L K Advani Wednesday broke his Bharat Suraksha Yatra and rushed to Mumbai.
Volcker: 'File CBI case against Natwar, Congress'
India should not be dictated by any country on its nuclear policy, Advani, who was in Hyderabad as part of his Bharat Suraksha Yatra, said.
He termed Gandhi's resignation from the Lok Sabha and Chairperson of the National Advisory Council as steps taken due to "compulsion", saying she was left with no option in the wake of the office of profit controversy.
'You are Leader of Opposition. Say things in Parliament, why do you have say it on social media?'
The Congress on Sunday gave a call to party leaders in poll-bound states to work with unity to ensure victory that will 'set the tone' for 2024 Lok Sabha polls even as it showed willingness to forge an alliance of 'like-minded' parties.
In the first-ever separate resolution on foreign policy brought in its National Executive in Bengaluru, BJP attacked the previous Congress-led Government, saying "a cursory glance at the 'lost decade' of the UPA, reveals retreat and a loss of direction in engaging with neighbours, ham-handed diplomacy vis--vis Pakistan and a blind-spot in our foreign policy to the Indian Ocean island states."